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Mechanics
Lesson#1
Francesco.becchi@telerobot.it
LESSONS TIME TABLE (pls. take note)
Baizid Khelifa
Biso Maurizio
Iqbal Jamshed
Jafari Amir
Naceri Abdeldjallil
Palyart Lamarche Jean-Christophe
Patra Niranjan
POWER TRANSMISSION
Mechanical load characterization
The apparatus load can be divided into two classes:
ITALIANO!
VERY SLOW DYNAMIC : J dω/dt << Cv + Ca + Cc
ELECTRIC ACTUATORS
PNEUMATIC ACTUATORS
HYDRAULIC ACTUATORS
…
ACTUATORS
Each actuator has its own characteristic
POWER
The choice between different option is not
always unique
ELECTRIC ACTUATORS
AC motor
DC brushed motor
Stepper motor
Brushless motor
Through electromagnetic
induction, the rotating magnetic
field induces a current in the
conductors in the rotor, which in
turn sets up a counterbalancing
magnetic field that causes the
rotor to turn in the direction the
field is rotating
AC motor speed
Ns = 120F / p
where
Ns = Synchronous speed, in revolutions per minute
F = AC power frequency
p = Number of poles per phase winding
AC motor speed
PROS:
Widely used industrially
No commutation
If required flexible control is available
Rugged
Wide range (<0.1 W:>> 1kW)
CONS:
NO POSITION LOOP IS POSSIBLE
Low dynamics
Low torque/weight ratio
DC brushed motor
…
Take care: low inertia means low mass: low thermal
inertia..It’s really easy to get too hot!.. Take a look at
continuous performances vs. peak performances !!
..some equations about the fundamental
electic motor (valid for both DC brushed and
brushless)..
The first term is the voltage required to give the required
torque
The second term is the voltage rise for the back EMF
Faulhaber DC brushed motor range (good for robotics)
..some relevant data..
Check out:
Nominal torque is 50%
peak torque
Remember nominal
speed..we will discuss
PROS:
DC driven
Easy to control (mechanical commutation)
Wide range (<0.1 W:>> 1kW)
CONS:
Brushes wear out
Mechanical commutation may be critical
Limits in high speed (..low inertia rotors availables
on low power motors..)
High power motors require wound field motor
(cannot have HUGE magnets!)
Stepper Motor
Linear version with thread integrated in the rotor and translating screw (or
screw integrated in the rotor and traslating nut)
Sophisticate driver monitors the winding current to sense the right step
commutation (if a “step” is missed the control compensates)
..some stepper examples..
small size (NEMA 14)
PROS:
For low power low cost application good for simple
position control: motor is controlled in steps (angle);
Ideally direct drive;
With embedded control may be a simple and cheap
solution for small positioning units.
CONS:
At high dynamics or for unexpected
overload may “loose the step” without
noticing (this may be avoided adding closed loop
control)
Brushless Motor
PROS:
High performance
High efficency
CONS:
Higher cost
Requires commutation control
A torque motor is generically Torque motors
defined as a motor optimized
to give high torques at low
speed with low cog